AP_HAL_Linux: move BARO lines to hwdef

ArduPilot · Feb 25, 2025 · 0d05814 · 0d05814
1 parent 1fa2cf3
commit 0d05814
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Showing 21 changed files with 70 additions and 20 deletions.
diff --git a/libraries/AP_HAL/board/linux.h b/libraries/AP_HAL/board/linux.h
@@ -27,46 +27,27 @@
     // nothing to do here
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
-    #define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77, AP_Baro_MS56XX::BARO_MS5607)
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV
     // nothing to do here
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
-    #define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77, AP_Baro_MS56XX::BARO_MS5607)
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
-    #define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77)
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
-    #define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77)
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
-    #define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
     // nothing to do here
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
-    #define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
-    #define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
-    #define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(BMP280, 1, 0x76); PROBE_BARO_I2C(BMP388, 1, 0x76)
-    #define HAL_BARO_EXTERNAL_BUS_DEFAULT 6
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
-    #define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(BMP280, 2, 0x76)
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
-    #define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(BMP280, "bmp280")
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
-    #define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77)
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
-    #define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
-    #define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 2, 0x76)
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK
-    #define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77)
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
-    #define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
-    #define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
-    #define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
-        #define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(BMP085, 1, 0x77) 
 #else
     #error "no Linux board subtype set"
 #endif

diff --git a/libraries/AP_HAL_Linux/hwdef/aero/hwdef.dat b/libraries/AP_HAL_Linux/hwdef/aero/hwdef.dat
@@ -9,6 +9,10 @@ COMPASS BMM150 I2C:2:0x12 ROTATION_NONE
 COMPASS HMC5843 I2C:4:0x1e true ROTATION_NONE
 COMPASS IST8310 I2C:4:0x0e true ROTATION_PITCH_180_YAW_90
 
+# Baros:
+BARO MS56XX I2C:2:0x76
+
+
 define HAL_RCOUTPUT_TAP_DEVICE "/dev/ttyS1"
 
 define HAL_NUM_CAN_IFACES 1

diff --git a/libraries/AP_HAL_Linux/hwdef/bbbmini/hwdef.dat b/libraries/AP_HAL_Linux/hwdef/bbbmini/hwdef.dat
@@ -10,6 +10,9 @@ COMPASS AK8963:probe_mpu9250 0 ROTATION_NONE
 COMPASS AK8963:probe_mpu9250 1 ROTATION_NONE
 define HAL_PROBE_EXTERNAL_I2C_COMPASSES 1
 
+# Baros:
+BARO MS56XX SPI:ms5611
+
 define DEFAULT_NTF_LED_TYPES (Notify_LED_Board)
 
 define AP_NOTIFY_GPIO_LED_3_ENABLED 1

diff --git a/libraries/AP_HAL_Linux/hwdef/bebop/hwdef.dat b/libraries/AP_HAL_Linux/hwdef/bebop/hwdef.dat
@@ -7,6 +7,9 @@ define INS_MAX_INSTANCES 3
 # Compasses:
 COMPASS AK8963 I2C:1:0x0d ROTATION_NONE
 
+# Baros:
+BARO MS56XX I2C:1:0x77 AP_Baro_MS56XX::BARO_MS5607
+
 
 define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/ardupilot/logs"
 define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/ardupilot/terrain"

diff --git a/libraries/AP_HAL_Linux/hwdef/bhat/hwdef.dat b/libraries/AP_HAL_Linux/hwdef/bhat/hwdef.dat
@@ -9,6 +9,10 @@ define INS_MAX_INSTANCES 3
 COMPASS AK8963:probe_mpu9250 0 ROTATION_NONE
 define HAL_PROBE_EXTERNAL_I2C_COMPASSES 1
 
+# Baros:
+BARO MS56XX I2C:1:0x77
+
+
 define DEFAULT_NTF_LED_TYPES (Notify_LED_Board)
 
 define AP_NOTIFY_GPIO_LED_3_ENABLED 1

diff --git a/libraries/AP_HAL_Linux/hwdef/blue/hwdef.dat b/libraries/AP_HAL_Linux/hwdef/blue/hwdef.dat
@@ -9,6 +9,10 @@ define INS_MAX_INSTANCES 3
 COMPASS AK8963:probe_mpu9250 I2C:2:0x0c ROTATION_NONE
 define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 
+# Baros:
+BARO BMP280 I2C:2:0x76
+
+
 define DEFAULT_NTF_LED_TYPES (Notify_LED_Board)
 
 define AP_NOTIFY_GPIO_LED_2_ENABLED 1

diff --git a/libraries/AP_HAL_Linux/hwdef/canzero/hwdef.dat b/libraries/AP_HAL_Linux/hwdef/canzero/hwdef.dat
@@ -6,9 +6,12 @@ define INS_MAX_INSTANCES 3
 
 # Compasses:
 COMPASS AK8963:probe_mpu9250 0 ROTATION_NONE
-
 define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 
+# Baros:
+BARO MS56XX SPI:ms5611
+
+
 define HAL_NUM_CAN_IFACES 1
 define HAL_CAN_DRIVER_DEFAULT 1
 

diff --git a/libraries/AP_HAL_Linux/hwdef/dark/hwdef.dat b/libraries/AP_HAL_Linux/hwdef/dark/hwdef.dat
@@ -7,6 +7,10 @@ define INS_MAX_INSTANCES 3
 # Compasses:
 COMPASS AK8963:probe_mpu9250 0 ROTATION_NONE
 
+# Baros:
+BARO MS56XX I2C:1:0x77
+
+
 define AP_NOTIFY_GPIO_LED_3_ENABLED 1
 define HAL_GPIO_A_LED_PIN        24
 define HAL_GPIO_B_LED_PIN        25

diff --git a/libraries/AP_HAL_Linux/hwdef/disco/hwdef.dat b/libraries/AP_HAL_Linux/hwdef/disco/hwdef.dat
@@ -7,6 +7,10 @@ define INS_MAX_INSTANCES 3
 # Compasses
 COMPASS AK8963 I2C:1:0x0d ROTATION_NONE
 
+# Baros:
+BARO MS56XX I2C:1:0x77 AP_Baro_MS56XX::BARO_MS5607
+
+
 define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/ardupilot/logs"
 define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/ardupilot/terrain"
 define HAL_BOARD_STORAGE_DIRECTORY "/data/ftp/internal_000/ardupilot"

diff --git a/libraries/AP_HAL_Linux/hwdef/edge/hwdef.dat b/libraries/AP_HAL_Linux/hwdef/edge/hwdef.dat
@@ -9,6 +9,9 @@ define INS_MAX_INSTANCES 3
 // only external compasses
 define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 
+# Baros:
+BARO MS56XX SPI:ms5611
+
 
 define HAL_BOARD_LOG_DIRECTORY "/edge/ardupilot/logs"
 define HAL_BOARD_TERRAIN_DIRECTORY "/edge/ardupilot/terrain"

diff --git a/libraries/AP_HAL_Linux/hwdef/erleboard/hwdef.dat b/libraries/AP_HAL_Linux/hwdef/erleboard/hwdef.dat
@@ -8,6 +8,9 @@ define INS_MAX_INSTANCES 3
 COMPASS AK8963:probe_mpu9250 0 ROTATION_NONE
 define HAL_PROBE_EXTERNAL_I2C_COMPASSES 1
 
+# Baros:
+BARO MS56XX SPI:ms5611
+
 define AP_NOTIFY_GPIO_LED_3_ENABLED 1
 define HAL_GPIO_A_LED_PIN        61
 define HAL_GPIO_B_LED_PIN        48

diff --git a/libraries/AP_HAL_Linux/hwdef/erlebrain2/hwdef.dat b/libraries/AP_HAL_Linux/hwdef/erlebrain2/hwdef.dat
@@ -8,6 +8,10 @@ define INS_MAX_INSTANCES 3
 COMPASS AK8963:probe_mpu9250 0 ROTATION_NONE
 define HAL_PROBE_EXTERNAL_I2C_COMPASSES 1
 
+# Baros:
+BARO MS56XX SPI:ms5611
+
+
 define DEFAULT_NTF_LED_TYPES (Notify_LED_Board)
 define AP_NOTIFY_GPIO_LED_3_ENABLED 1
 define HAL_GPIO_A_LED_PIN        24

diff --git a/libraries/AP_HAL_Linux/hwdef/navigator/hwdef.dat b/libraries/AP_HAL_Linux/hwdef/navigator/hwdef.dat
@@ -9,6 +9,12 @@ COMPASS MMC5XX3 SPI:mmc5983  false ROTATION_YAW_180
 COMPASS AK09916 I2C:1:0x0c false ROTATION_YAW_270
 define HAL_PROBE_EXTERNAL_I2C_COMPASSES 1
 
+# Baros:
+BARO BMP280 I2C:1:0x76
+BARO BMP388 I2C:1:0x76
+define HAL_BARO_EXTERNAL_BUS_DEFAULT 6
+
+
 # I2C6 is the only i2c one exposed on a header
 define HAL_LINUX_I2C_EXTERNAL_BUS_MASK 1 << 6
 

diff --git a/libraries/AP_HAL_Linux/hwdef/navio/hwdef.dat b/libraries/AP_HAL_Linux/hwdef/navio/hwdef.dat
@@ -8,6 +8,8 @@ define INS_MAX_INSTANCES 3
 COMPASS AK8963:probe_mpu9250 0 ROTATION_NONE
 define HAL_PROBE_EXTERNAL_I2C_COMPASSES 1
 
+BARO MS56XX I2C:1:0x77
+
 define AP_NOTIFY_GPIO_LED_3_ENABLED 1
 define HAL_GPIO_A_LED_PIN 0
 define HAL_GPIO_B_LED_PIN 1

diff --git a/libraries/AP_HAL_Linux/hwdef/navio2/hwdef.dat b/libraries/AP_HAL_Linux/hwdef/navio2/hwdef.dat
@@ -9,6 +9,9 @@ COMPASS LSM9DS1 SPI:lsm9ds1_m   ROTATION_ROLL_180
 COMPASS AK8963:probe_mpu9250 0 ROTATION_NONE
 define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 
+# Baros:
+BARO MS56XX I2C:1:0x77
+
 define HAL_HAVE_SERVO_VOLTAGE 1
 define AP_NOTIFY_SYSFS_LED_ENABLED 1
 define AP_RCPROTOCOL_EMLID_RCIO_ENABLED 1

diff --git a/libraries/AP_HAL_Linux/hwdef/obal/hwdef.dat b/libraries/AP_HAL_Linux/hwdef/obal/hwdef.dat
@@ -9,6 +9,9 @@ COMPASS AK8963:probe_mpu9250 0 ROTATION_NONE
 # COMPASS QMC5883L I2C:1:0x0d true  ROTATION_NONE
 define HAL_PROBE_EXTERNAL_I2C_COMPASSES 1
 
+# Baros:
+BARO BMP085 I2C:1:0x77
+
 
 define HAL_BOARD_LOG_DIRECTORY "/home/pi/ardupilot/logs"
 define HAL_BOARD_TERRAIN_DIRECTORY "/home/pi/ardupilot/terrain"

diff --git a/libraries/AP_HAL_Linux/hwdef/ocpoc_zynq/hwdef.dat b/libraries/AP_HAL_Linux/hwdef/ocpoc_zynq/hwdef.dat
@@ -11,3 +11,6 @@ define INS_MAX_INSTANCES 3
 # Compasses:
 COMPASS AK8963:probe_mpu9250 0 ROTATION_NONE
 define HAL_PROBE_EXTERNAL_I2C_COMPASSES 1
+
+# Baros:
+BARO MS56XX SPI:ms5611
diff --git a/libraries/AP_HAL_Linux/hwdef/pocket/hwdef.dat b/libraries/AP_HAL_Linux/hwdef/pocket/hwdef.dat
@@ -8,6 +8,10 @@ define INS_MAX_INSTANCES 3
 COMPASS AK8963:probe_mpu9250 0 ROTATION_NONE
 define HAL_PROBE_EXTERNAL_I2C_COMPASSES 1
 
+# Baros:
+BARO BMP280 SPI:bmp280
+
+
 define DEFAULT_NTF_LED_TYPES (Notify_LED_Board)
 
 define AP_NOTIFY_GPIO_LED_3_ENABLED 1

diff --git a/libraries/AP_HAL_Linux/hwdef/pxf/hwdef.dat b/libraries/AP_HAL_Linux/hwdef/pxf/hwdef.dat
@@ -8,6 +8,9 @@ define INS_MAX_INSTANCES 3
 COMPASS AK8963:probe_mpu9250 0 ROTATION_NONE
 define HAL_PROBE_EXTERNAL_I2C_COMPASSES 1
 
+# Baros:
+BARO MS56XX SPI:ms5611
+
 define AP_NOTIFY_TONEALARM_ENABLED 1
 
 define AP_NOTIFY_GPIO_LED_3_ENABLED 1

diff --git a/libraries/AP_HAL_Linux/hwdef/pxfmini/hwdef.dat b/libraries/AP_HAL_Linux/hwdef/pxfmini/hwdef.dat
@@ -8,6 +8,9 @@ define INS_MAX_INSTANCES 3
 COMPASS AK8963:probe_mpu9250 0 ROTATION_NONE
 define HAL_PROBE_EXTERNAL_I2C_COMPASSES 1
 
+# Baros:
+BARO MS56XX SPI:ms5611
+
 
 define DEFAULT_NTF_LED_TYPES (Notify_LED_Board)
 define AP_NOTIFY_GPIO_LED_3_ENABLED 1

diff --git a/libraries/AP_HAL_Linux/hwdef/rst_zynq/hwdef.dat b/libraries/AP_HAL_Linux/hwdef/rst_zynq/hwdef.dat
@@ -6,6 +6,9 @@ IMU RST SPI:rst_g SPI:rst_a ROTATION_ROLL_180_YAW_90 ROTATION_ROLL_180_YAW_90
 # Compasses:
 COMPASS LIS3MDL SPI:lis3mdl  false ROTATION_ROLL_180_YAW_90
 
+# Baros:
+BARO MS56XX SPI:ms5611
+
 define DEFAULT_NTF_LED_TYPES (Notify_LED_ToshibaLED_I2C_External)
 
 define HAL_OPTFLOW_PX4FLOW_I2C_BUS 0